Motor Class Reference

#include <Motor.h>

Collaboration diagram for Motor:

Public Member Functions
	Motor (int, int, int pin_a=0, int pin_b=0)
	Default constructor. More...
	Motor (int, int, int, int, int, int)
	Default constructor for motor with an encoder. More...
int	setupMotor (int, int, int pin_a=0, int pin_b=0)
	Sets up the pins of the motor class. More...
void	run (int)
	Run the motor at the desired speed and direction or position. More...
long	getPosition (void)
	Returns the position of the motor. More...
double	getCurrentUsage (void)

Public Attributes
bool	ready = false

Protected Attributes
MotorState	state
MotorPins	pins
bool	ENCODER_SETUP = false
bool	CURRENT_SENSOR_SETUP = false

Detailed Description

Definition at line 53 of file Motor.h.

Constructor & Destructor Documentation

Motor::Motor	(	int	type,
		int	pin_pwm,
		int	pin_a = 0,
		int	pin_b = 0
	)

Default constructor.

Author

Frederick Wachter

Date

Created: 2018-03-06

Definition at line 12 of file Motor.cpp.

Motor::Motor	(	int	type,
		int	pin_pwm,
		int	pin_a,
		int	pin_b,
		int	encoder_pin_a,
		int	encoder_pin_b
	)

Default constructor for motor with an encoder.

Author

Frederick Wachter

Date

Created: 2018-03-06

Definition at line 19 of file Motor.cpp.

Member Function Documentation

double Motor::getCurrentUsage

(

void

)

long Motor::getPosition

(

void

)

Returns the position of the motor.

Author

Frederick Wachter

Date

Created: 2018-03-06

Returns

motor_position - position of the motor

Definition at line 87 of file Motor.cpp.

void Motor::run

(

int

speed

)

Run the motor at the desired speed and direction or position.

Author

Frederick Wachter

Date

Created: 2018-03-06

Returns

error code

Definition at line 65 of file Motor.cpp.

void Motor::setupMotor	(	int	type,
		int	pin_pwm,
		int	pin_a = 0,
		int	pin_b = 0
	)

Sets up the pins of the motor class.

Author

Frederick Wachter

Date

Created: 2018-03-06

Returns

error code

Definition at line 31 of file Motor.cpp.

Member Data Documentation

bool Motor::CURRENT_SENSOR_SETUP = false

protected

Definition at line 104 of file Motor.h.

bool Motor::ENCODER_SETUP = false

protected

Definition at line 103 of file Motor.h.

MotorPins Motor::pins

protected

Definition at line 101 of file Motor.h.

bool Motor::ready = false

Definition at line 56 of file Motor.h.

MotorState Motor::state

protected

Definition at line 100 of file Motor.h.

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The documentation for this class was generated from the following files:

• /home/swerve/Github/sdc_2018/omni_robot/Motor.h
• /home/swerve/Github/sdc_2018/omni_robot/Motor.cpp